function detected = detect(quant_centers)
global g_quants;
global g_max_vel;
global g_delta_phi;
global g_survey_num;
lambda = 0;

for k = 1:g_survey_num
    for v = 0:1.0:g_max_vel
        for phi_v = 0:g_delta_phi:2*pi
            P_d = prob_detect(quant_centers, v, phi_v, k);
            lambda = lambda + ...
                sum(P_d .* g_quants(k,:) + ... 
                (1 - P_d) .* (1 - g_quants(k,:)));
        end
    end
end
detected = 1;

end